Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2011, Article ID 652785, 10 pages doi:10.1155/2011/652785 Research Article Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators 1, 2 1 ´ 2 1 Yassine Bouteraa, Jawhar Ghommam, Gerard Poisson, and Nabil Derbel 1 Research Unit on Intelligent Control, Design Optimization of Complex Systems, University of Sfax, Sfax Engineering School, BP W, Sfax 3038, Tunisia 2 Laboratoire Prisme-Pole IRAuS, Universite d’ Orleans, 63 Avenue de Lattre de Tassigny, 18020 Bourges Cedex, France ˆ ´ ´ Correspondence should be addressed to Yassine Bouteraa, yassine.bouteraa@ Received 1 January 2011; Revised 29 April 2011; Accepted 3 June 2011 Academic Editor: Yangmin Li Copyright © 2011 Yassine Bouteraa et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well- known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots’ joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange